CN108748109A - Two translation of one kind, one rotation 2RRR-CRR parallel institutions - Google Patents
Two translation of one kind, one rotation 2RRR-CRR parallel institutions Download PDFInfo
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- CN108748109A CN108748109A CN201810754840.5A CN201810754840A CN108748109A CN 108748109 A CN108748109 A CN 108748109A CN 201810754840 A CN201810754840 A CN 201810754840A CN 108748109 A CN108748109 A CN 108748109A
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- branch
- bindiny mechanism
- revolute pair
- connecting rod
- fixed platform
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0045—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base
- B25J9/0048—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base with kinematics chains of the type rotary-rotary-rotary
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- Robotics (AREA)
- Mechanical Engineering (AREA)
- Transmission Devices (AREA)
Abstract
The invention discloses two translation of one kind, one rotation 2RRR-CRR parallel institutions,Including fixed platform,Moving platform and bindiny mechanism of branch,The fixed platform is connected with moving platform by bindiny mechanism of branch,Fixed platform is identical with the structure of moving platform,It is circular in cross-section,The rectangular disk in longitudinal section,And fixed platform is located at the lower section of moving platform,The lateral central axes of the two are parallel to each other in initial bit shape,Bindiny mechanism of branch includes the first bindiny mechanism of branch,Second bindiny mechanism of branch and bindiny mechanism of third branch,Wherein the first bindiny mechanism of branch is identical with the second bindiny mechanism of branch structure,And it is different from bindiny mechanism of third branch structure,Wherein the second bindiny mechanism of branch includes the first revolute pair,Second branch's upper connecting rod,Second revolute pair,Second branch's lower link and third revolute pair,Wherein bindiny mechanism of third branch includes the 4th revolute pair,Third branch upper connecting rod,5th revolute pair,Third branch lower link and cylindrical pair.The mechanism section decouples so that analysis convenience of calculation, be easy to control, precision is high, rigidity is big.
Description
Technical field
The present invention relates to 3-freedom parallel mechanism technical fields, more particularly to two translation of one kind, one rotation 2RRR-CRR is simultaneously
Online structure.
Background technology
Parallel institution has many advantages, such as that rigidity is big, precision is high, dynamic response is good, cumulative errors are small, is widely used in machine
Device people field.Relative to six-degree-of-freedom parallel connection mechanism, minority carrier generation lifetime is with driving element is few, production cost is small, knot
Structure simple and compact calculates the advantages that relatively easy, so there is very high commercial value in the industrial production.Two translations, one rotation
3-freedom parallel mechanism well will rotation and movement combines, can be used for medical instrument, industrial robot, simulator,
The fields such as radar.The parallel institution of one rotation of the translation of some proposed at present two has strong coupling, calculates and control is relatively tired
It is difficult；Mechanism be full decoupled structure, rigidity and bearing capacity are relatively weak；Mechanism be then that branch is different and branch
Number of degrees of freedom, is larger, is easy to happen without preferable symmetry and during the motion interference, working space is relatively small.
Therefore, we be badly in need of design one kind two translation one rotation 2RRR-CRR parallel institutions solve the above problems.
Invention content
The purpose of the present invention is to solve disadvantages existing in the prior art, propose two translation of one kind, one rotation 2RRR-
CRR parallel institutions.
To achieve the goals above, present invention employs following technical solutions：
Two translation of one kind, one rotation 2RRR-CRR parallel institutions, including fixed platform, moving platform and bindiny mechanism of branch, it is described
Fixed platform is connected with moving platform by bindiny mechanism of branch, and fixed platform is identical with the structure of moving platform, is circular in cross-section,
The rectangular disk in longitudinal section, and fixed platform is located at the lower section of moving platform, the lateral central axes of the two are mutually equal in initial bit shape
Row, bindiny mechanism of branch include the first bindiny mechanism of branch, the second bindiny mechanism of branch and bindiny mechanism of third branch, wherein the
One bindiny mechanism of branch, the second bindiny mechanism of branch structure are identical and different from bindiny mechanism of third branch structure, wherein second
Bindiny mechanism of branch include the first revolute pair, second branch's upper connecting rod, the second revolute pair, second branch's lower link and
Third revolute pair, wherein one end of second branch's upper connecting rod is connect by the first revolute pair with moving platform, second branch's machine
The other end of structure upper connecting rod is connect by the second revolute pair with one end of second branch's lower link, is connected under the second branch
The other end of bar is connect by third revolute pair with fixed platform；Wherein bindiny mechanism of third branch includes the 4th revolute pair, third
Branch's upper connecting rod, the 5th revolute pair, third branch lower link and cylindrical pair, wherein third branch upper connecting rod
One end is connect by the 4th revolute pair with moving platform, and the other end of third branch upper connecting rod passes through the 5th revolute pair and third
One end of branch's lower link connects, and the other end of third branch lower link is connect by cylindrical pair with fixed platform.
Preferably, in bindiny mechanism of second branch the first revolute pair, the second revolute pair and third revolute pair axis
It is parallel to each other and all identical as the structure of the first bindiny mechanism of branch and specification；The 4th turn in bindiny mechanism of the third branch
Dynamic secondary and the 5th revolute pair axis is parallel to each other and orthogonal with the axis of cylindrical pair.
Preferably, bindiny mechanism of first branch, the second bindiny mechanism of branch and bindiny mechanism of third branch three edge
Semi-circumference is evenly arranged on the lateral wall of fixed platform.
Beneficial effects of the present invention：
1, the mechanism section decouples so that analysis convenience of calculation, be easy to control, precision is high, rigidity is big.
2, in three branches of the mechanism there are two branch is identical, mechanism integrally has preferable symmetry, and load-carrying properties are good.
3, the mechanism includes only prismatic pair and revolute pair (cylindrical pair is composed of prismatic pair and revolute pair), and most
For revolute pair so that mechanism structure is simple, and coaxial relationship readily satisfies, and process and assemble is relatively easy.
Description of the drawings
Fig. 1 is a kind of structural schematic diagram of one rotation 2RRR-CRR parallel institutions of two translation proposed by the present invention.
In figure：1- fixed platforms, 2- moving platforms, bindiny mechanism of the first branches of 3-, bindiny mechanism of the second branches of 4-, 5- thirds point
Branch bindiny mechanism, the first revolute pairs of 41-, the second branches of 42- upper connecting rod, the second revolute pairs of 43-, the second branches of 44-
Lower link, 45- thirds revolute pair, the 4th revolute pairs of 51-, 52- thirds branch upper connecting rod, the 5th revolute pairs of 53-, 54-
Three branch's lower links, 55- cylindrical pairs.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.
Two translation of one kind, one rotation 2RRR-CRR parallel institutions, including fixed platform 1, moving platform 2 and bindiny mechanism of branch, institute
It states fixed platform 1 to connect by bindiny mechanism of branch with moving platform 2, fixed platform 1 is identical with the structure of moving platform 2, is cross section
It is rounded, the rectangular disk in longitudinal section, and fixed platform 1 is located at the lower section of moving platform 2, and the lateral central axes of the two are initial
Position shape is parallel to each other, and bindiny mechanism of branch includes that the first bindiny mechanism of branch 3, the second bindiny mechanism of branch 4 and third branch connect
Connection mechanism 5, wherein the first bindiny mechanism of branch 3 and 4 structure of the second bindiny mechanism of branch it is identical and with bindiny mechanism of third branch 5
Structure is different, wherein the second bindiny mechanism of branch 4 includes the first revolute pair 41, the rotation of second branch's upper connecting rod 42, second
Secondary 43, second branch's lower link 44 and third revolute pair 45, wherein one end of second branch's upper connecting rod 42 passes through the
One revolute pair 41 is connect with moving platform 2, and the other end of second branch's upper connecting rod 42 passes through the second revolute pair 43 and second point
One end of branch mechanism lower link 44 connects, and the other end of second branch's lower link 44 passes through third revolute pair 45 and fixed platform
1 connection；Wherein bindiny mechanism of third branch 5 includes the 4th revolute pair 51, third branch upper connecting rod 52, the 5th revolute pair
53, third branch lower link 54 and cylindrical pair 55, wherein one end of third branch upper connecting rod 52 pass through the 4th rotation
Pair 51 is connect with moving platform 2, and the other end of third branch upper connecting rod 52 passes through the 5th revolute pair 53 and third branch
One end of lower link 54 connects, and the other end of third branch lower link 54 is connect by cylindrical pair 55 with fixed platform 1.It is described
The axis of the first revolute pair 41, the second revolute pair 43 and third revolute pair 45 is parallel to each other in second bindiny mechanism of branch, and with
First bindiny mechanism of branch structure and specification are all identical；The 4th revolute pair 51 and the 5th rotates in bindiny mechanism of the third branch
The axis of pair 53 is parallel to each other and orthogonal with the axis of cylindrical pair 55.Bindiny mechanism of first branch 3, the second branch
Bindiny mechanism 4 and 5 three of bindiny mechanism of third branch are along the lateral wall that semi-circumference is evenly arranged in fixed platform 1.
The mechanism section decouples so that analysis convenience of calculation, be easy to control, precision is high, rigidity is big.
Branch is identical there are two in three branches of the mechanism, and mechanism integrally has preferable symmetry, load-carrying properties good.
The mechanism only includes prismatic pair and revolute pair (cylindrical pair is composed of prismatic pair and revolute pair), and majority is
Revolute pair so that mechanism structure is simple, and coaxial relationship readily satisfies, and process and assemble is relatively easy.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
Any one skilled in the art in the technical scope disclosed by the present invention, according to the technique and scheme of the present invention and its
Inventive concept is subject to equivalent substitution or change, should be covered by the protection scope of the present invention.
Claims (3)
1. two translation of one kind, one rotation 2RRR-CRR parallel institutions, including fixed platform (1), moving platform (2) and bindiny mechanism of branch,
It is characterized in that, the fixed platform (1) is connected with moving platform (2) by bindiny mechanism of branch, fixed platform (1) and moving platform (2)
Structure it is identical, be circular in cross-section, the rectangular disk in longitudinal section, and fixed platform (1) is located under moving platform (2)
Side, and the lateral central axes of the two are parallel to each other in initial bit shape, bindiny mechanism of branch include the first bindiny mechanism of branch (3),
Second bindiny mechanism of branch (4) and bindiny mechanism of third branch (5), wherein the first bindiny mechanism of branch (3) and the second branch connect
Connection mechanism (4) structure is identical and different from bindiny mechanism of third branch (5) structure, wherein the second bindiny mechanism of branch (4) includes
First revolute pair (41), second branch's upper connecting rod (42), the second revolute pair (43), second branch's lower link (44) and
Third revolute pair (45), wherein one end of second branch's upper connecting rod (42) passes through the first revolute pair (41) and moving platform (2)
Connection, the other end of second branch's upper connecting rod (42) pass through the second revolute pair (43) and second branch's lower link (44)
One end connection, the other end of second branch's lower link (44) connect by third revolute pair (45) with fixed platform (1)；Its
Bindiny mechanism of middle third branch (5) includes the 4th revolute pair (51), third branch upper connecting rod (52), the 5th revolute pair
(53), third branch lower link (54) and cylindrical pair (55), one end of wherein third branch upper connecting rod (52) pass through
4th revolute pair (51) is connect with moving platform (2), and the other end of third branch upper connecting rod (52) passes through the 5th revolute pair
(53) it is connect with one end of third branch lower link (54), the other end of third branch lower link (54) passes through cylinder
Secondary (55) are connect with fixed platform (1).
2. one rotation 2RRR-CRR parallel institutions of a kind of two translation according to claim 1, which is characterized in that described second
The axis of the first revolute pair (41), the second revolute pair (43) and third revolute pair (45) is parallel to each other in bindiny mechanism of branch, and
It is all identical as the first bindiny mechanism of branch structure and specification；4th revolute pair (51), the 5th in bindiny mechanism of the third branch
The axis of revolute pair (53) is parallel to each other, and orthogonal with the axis of cylindrical pair (55).
3. one rotation 2RRR-CRR parallel institutions of a kind of two translation according to claim 1, which is characterized in that described first
Bindiny mechanism of branch (3), the second bindiny mechanism of branch (4) and bindiny mechanism of third branch (5) three are evenly distributed along semi-circumference
On the lateral wall of fixed platform (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810754840.5A CN108748109B (en) | 2018-07-11 | 2018-07-11 | Two-translation one-rotation 2RRR-CRR parallel mechanism |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810754840.5A CN108748109B (en) | 2018-07-11 | 2018-07-11 | Two-translation one-rotation 2RRR-CRR parallel mechanism |
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| Publication Number | Publication Date |
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| CN108748109A true CN108748109A (en) | 2018-11-06 |
| CN108748109B CN108748109B (en) | 2020-04-28 |
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| CN201810754840.5A Active CN108748109B (en) | 2018-07-11 | 2018-07-11 | Two-translation one-rotation 2RRR-CRR parallel mechanism |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109262592A (en) * | 2018-11-09 | 2019-01-25 | 燕山大学 | Two translations, one rotation branch's non complete symmetry parallel institution |
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|---|---|---|---|---|
| CN104002298A (en) * | 2014-05-12 | 2014-08-27 | 燕山大学 | Two-moving and one-rotating decoupling parallel robot mechanism |
| CN104440880A (en) * | 2014-11-21 | 2015-03-25 | 广西智通节能环保科技有限公司 | Two-CPR and PPR spatial parallel robot mechanism |
| CN104669251A (en) * | 2015-02-10 | 2015-06-03 | 柳州市金旭节能科技有限公司 | 2PRU (Pseudo-Random Upstream) and CRS (Central Reservation System) spatial parallel robot mechanism |
| CN105014656A (en) * | 2015-06-29 | 2015-11-04 | 张荣华 | 2CRU&CRR space parallel robot mechanism |
-
2018
- 2018-07-11 CN CN201810754840.5A patent/CN108748109B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104002298A (en) * | 2014-05-12 | 2014-08-27 | 燕山大学 | Two-moving and one-rotating decoupling parallel robot mechanism |
| CN104440880A (en) * | 2014-11-21 | 2015-03-25 | 广西智通节能环保科技有限公司 | Two-CPR and PPR spatial parallel robot mechanism |
| CN104669251A (en) * | 2015-02-10 | 2015-06-03 | 柳州市金旭节能科技有限公司 | 2PRU (Pseudo-Random Upstream) and CRS (Central Reservation System) spatial parallel robot mechanism |
| CN105014656A (en) * | 2015-06-29 | 2015-11-04 | 张荣华 | 2CRU&CRR space parallel robot mechanism |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109262592A (en) * | 2018-11-09 | 2019-01-25 | 燕山大学 | Two translations, one rotation branch's non complete symmetry parallel institution |
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| CN108748109B (en) | 2020-04-28 |
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